track_frame_500hz.xml

This example application shows the usage of monitors.

Models used

File contents

 1<?xml version="1.0" encoding="UTF-8"?>
 2
 3<!-- This example application shows the usage of monitors.
 4
 5-->
 6
 7<pitasc>
 8
 9    <models>
10        <include package="pitasc_library" file="models/pitasc.xml"/>
11        <include package="pitasc_library" file="models/skills.xml"/>
12
13        <include package="pitasc_library" file="universal_robots/ur.xml"/>
14    </models>
15
16    <clone prototype="project">
17
18        <member id="configuration">
19            <clone id="configuration" prototype="default_configuration">
20                <member id="update_rate">500</member>
21            </clone>
22        </member>
23
24        <member id="environment">
25            <clone prototype="robot_ur5">
26                <member id="robot_driver.max_velocity">2.0</member>
27                <member id="robot_driver.max_acceleration">3.0</member>
28            </clone>
29        </member>
30
31        <member id="applications">
32            <clone prototype="skill_sequence">
33
34                <member id="robot" reference_id="environment.robot_ur5"/>
35
36                <member id="skills">
37
38                    <clone prototype="skill_cartesian_tracking">
39                        <member id="skill_name">track_duration</member>
40                        <member id="tool_frame">tool</member>
41                        <member id="target_frame">marker</member>
42
43                        <!-- Quit after 5 seconds -->
44                        <member id="monitors">
45                            <clone prototype="monitor_duration">
46                                <member id="duration">30.0</member>
47                            </clone>
48                        </member>
49
50                    </clone>
51
52                </member>
53
54            </clone>
55        </member>
56
57    </clone>
58
59</pitasc>